CN113858268A

CN113858268A - Charging method of robot chassis and related device

Info

Publication number: CN113858268A
Application number: CN202110882788.3A
Authority: CN
Inventors: 陈海波; 朱峰
Original assignee: Deep Blue Technology Shanghai Co Ltd
Current assignee: Shenlan Robot Industry Development Henan Co ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2021-12-31
Anticipated expiration: 2041-08-02
Also published as: CN113858268B

Abstract

The application provides a charging method and a related device for a robot chassis, the method is applied to the robot chassis, a laser radar is installed on the robot chassis, a rechargeable battery is further arranged in the robot chassis, a charging station is provided with at least one charging position, and the charging position is used for charging the battery on the robot chassis, and the method comprises the following steps: determining one charging potential from the at least one charging potential as a target charging potential; controlling the chassis of the robot to travel to a preset distance near a target charging level; receiving environmental information sent by a laser radar, wherein the environmental information is obtained by scanning a target charging level by the laser radar; detecting whether an obstacle exists in a target charging position or not according to the environmental information; and when no obstacle exists, controlling the robot chassis to travel to the target charging potential so as to charge the robot chassis at the target charging potential. By arranging the laser radar, environmental information can be acquired, whether a barrier exists in the target charging level or not is judged, and collision between the chassis of the robot and the barrier is avoided.

Description

Charging method of robot chassis and related device

Technical Field

The present application relates to the field of robotics, and in particular, to a method and apparatus for charging a robot chassis.

Background

With the development of science and technology, the application range of the robot is gradually expanded. A robot is a system that integrates computer, mechanical, sensing technology, information processing technology, image processing and recognition technology, language recognition and processing technology, control technology, and communication technology.

The robot is typically powered by a battery, and when the battery is depleted, the robot has to return to a charging station to charge the battery and continue to operate after charging. When there is more than one robot and charging station, the robot may collide with another robot at the charging station at which the other robot is performing charging. Further, when the number of charging stations is less than the number of robots, the robots may collide with each other for one charging station.

Disclosure of Invention

The application aims to provide a charging method and a related device for a robot chassis, which can judge whether a target charging potential has an obstacle according to environmental information so as to avoid collision between the robot chassis and the obstacle.

The purpose of the application is realized by adopting the following technical scheme:

in a first aspect, the present application provides a method for charging a robot chassis, where the method is applied to a robot chassis, the robot chassis is equipped with a laser radar, the robot chassis is further provided with a rechargeable battery inside, a charging station is provided with at least one charging point, and the charging point is used for charging the battery of the robot chassis, and the method includes: determining one charging potential from the at least one charging potential as a target charging potential; controlling the robot chassis to travel to a preset distance near the target charging position; receiving environmental information sent by the laser radar, wherein the environmental information is obtained by scanning the target charging level by the laser radar; detecting whether an obstacle exists in the target charging position or not according to the environment information; when no obstacle exists, the robot chassis is controlled to travel to the target charging position, so that the robot chassis is charged at the target charging position. The technical scheme has the beneficial effects that on one hand, the robot chassis can automatically navigate to the position near the target charging position according to the information of the target charging position, and the intelligent degree is high; on the other hand, through setting up laser radar, can acquire environmental information to judge whether the target fills the electric potential and has the barrier according to environmental information, avoid robot chassis and barrier to bump.

In some optional embodiments, the determining one of the charging potentials as the target charging potential from the at least one charging potential includes: acquiring an occupation state of each charging potential in the at least one charging potential; acquiring a charging potential with an unoccupied occupation state from the at least one charging potential; and acquiring one charging position from the charging positions with the unoccupied occupation states as the target charging position. The beneficial effects of this technical scheme lie in, through the occupation state that acquires the charging potential, can select the occupation state to charge for the battery on robot chassis for unoccupied charging potential, avoid robot chassis and other robot chassis that are charging to take place the conflict.

In some optional embodiments, the obtaining one of the charge sites from the charge sites with the unoccupied occupancy state as the target charge site includes: acquiring the distance between each charging potential in the charging potentials with the unoccupied occupation states and the robot chassis; and determining the charging potential with the shortest distance as the target charging potential. The beneficial effects of this technical scheme lie in, through obtaining the distance between charging potential and the robot chassis, can select the charging potential nearest apart from the robot chassis to charge the robot chassis, improve charge efficiency.

In some optional embodiments, the method further comprises: and adjusting the occupation state of the target charging potential to be occupied. The technical scheme has the advantages that when the robot chassis selects the target charging position, the occupied state of the target charging position is adjusted to be occupied, other robot chassis cannot take the charging position as the target charging position, the robot chassis can be prevented from colliding with a charging station, and the management of the charging position is facilitated.

In some optional embodiments, the robot chassis is further provided with a camera; the receiving the environmental information sent by the laser radar includes: receiving first image information sent by the camera, wherein the first image information is obtained by shooting a preset area of the target charging potential by the camera; detecting whether preset characteristic information exists or not according to the first image information; and when the preset characteristic information does not exist, receiving the environmental information sent by the laser radar. The technical scheme has the advantages that the first image information can be obtained by arranging the camera, so that whether the characteristic information exists or not is judged according to the first image information, on one hand, if the characteristic information exists in the first image information display, the characteristic information in the preset area at the target charging position is not shielded, and the target charging position is not occupied; on the other hand, if the first image information shows that the characteristic information does not exist, the characteristic information in the preset region of the target charging level is shielded, and the environment information can be obtained through the laser radar, so that whether an obstacle exists in the preset distance near the target charging level or not is judged, and the intelligent degree is further improved.

In some optional embodiments, the preset feature information includes at least one of: bar codes, two-dimensional codes, and reflective labels. The technical scheme has the beneficial effects that if any one or more of the bar code, the two-dimensional code and the reflective label exists in the first image information, the characteristic information in the preset area of the target charging potential is not shielded, and no barrier exists in the preset area of the target charging potential.

In some optional embodiments, the robot chassis is further provided with a camera; the method further comprises the following steps: when an obstacle exists, receiving second image information sent by the camera, wherein the second image information is obtained by shooting a preset area of the target charging potential by the camera; detecting whether a living being exists according to the second image information; when the creature exists, controlling the robot chassis to expel the creature. The beneficial effects of this technical scheme lie in, can acquire second image information according to the camera to judge whether there is the biology according to second image information, if there is the biology, the robot chassis can automatic expulsion biology, makes the biology keep away from the predetermined region of target charging potential, and the robot chassis can charge in target charging potential department.

In some optional embodiments, the camera is an infrared camera, and the second image information is infrared image information. The technical scheme has the beneficial effects that on one hand, compared with an optical camera, the infrared camera can be used at night or when light is insufficient; on the other hand, the infrared camera can acquire the infrared image information of the living being and accurately identify the living being.

In a second aspect, the application provides a charging device on robot chassis, the device is applied to the robot chassis, laser radar is installed on the robot chassis, the robot chassis still embeds there is rechargeable battery, and the charging station is provided with at least one charging position, charging position be used for do the battery on robot chassis charges, the device includes: the target determination module is used for determining one charging potential from the at least one charging potential as a target charging potential; the first chassis control module is used for controlling the robot chassis to travel to a preset distance near the target charging position; the environment receiving module is used for receiving environment information sent by the laser radar, wherein the environment information is obtained by scanning the target charging level by the laser radar; the obstacle detection module is used for detecting whether an obstacle exists in the target charging position or not according to the environment information; and the second chassis control module is used for controlling the robot chassis to travel to the target charging position when no obstacle exists, so that the robot chassis is charged at the target charging position.

In some optional embodiments, the goal determination module comprises: the state acquisition unit is used for acquiring the occupation state of each charging potential in the at least one charging potential; the state screening unit is used for acquiring a charging potential with an unoccupied occupation state from the at least one charging potential; and the target acquisition unit is used for acquiring one of the charging positions from the charging positions with the unoccupied occupation states as the target charging position.

In some optional embodiments, the target obtaining unit comprises: the distance acquisition subunit is used for acquiring the distance between each charging potential in the charging potentials with the unoccupied occupation state and the robot chassis; and the charging position determining subunit is used for determining the charging position with the shortest distance as the target charging position.

In some optional embodiments, the apparatus further comprises: and the state adjusting module is used for adjusting the occupation state of the target charging potential to be occupied.

In some optional embodiments, the robot chassis is further provided with a camera; the environment receiving module includes: the first image receiving unit is used for receiving first image information sent by the camera, wherein the first image information is obtained by shooting a preset area of the target charging potential by the camera; the characteristic detection unit is used for detecting whether preset characteristic information exists or not according to the first image information; and the information receiving unit is used for receiving the environmental information sent by the laser radar when the preset characteristic information does not exist.

In some optional embodiments, the preset feature information includes at least one of: bar codes, two-dimensional codes, and reflective labels.

In some optional embodiments, the robot chassis is further provided with a camera; the apparatus further comprises a bio-detection module, the bio-detection module comprising: the second image receiving unit is used for receiving second image information sent by the camera when an obstacle exists, wherein the second image information is obtained by shooting a preset area of the target charging potential by the camera; a biological detection unit for detecting whether a living being exists or not based on the second image information; and the biological expelling unit is used for controlling the robot chassis to expel the organisms when the organisms exist.

In some optional embodiments, the camera is an infrared camera, and the second image information is infrared image information.

In a third aspect, the present application provides an electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of any of the above methods when executing the computer program.

In a fourth aspect, the present application provides a robot chassis, wherein the robot chassis is provided with a laser radar, the robot chassis is further provided with a rechargeable battery, and the robot chassis further comprises any one of the electronic devices. The technical scheme has the beneficial effects that on one hand, compared with the traditional detection equipment, the laser radar has high resolution, good detection performance, small volume and light weight; on the other hand, the electronic equipment can comprise a memory and a processor, and the electronic equipment is applied to the robot chassis, so that the intelligent level and the automatic level are improved.

In a fifth aspect, the present application provides a robot chassis charging system, the system includes a charging station and any one of the above robot chassis, the charging station is provided with at least one charging point, and the charging point is used for charging a battery of the robot chassis.

In a sixth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the methods described above.

Drawings

The present application is further described below with reference to the drawings and examples.

Fig. 1 is a schematic flowchart of a charging method for a robot chassis according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of determining a target charging potential according to an embodiment of the present application;

fig. 3 is a schematic flow chart of determining a target charging potential according to an embodiment of the present application;

fig. 4 is a schematic flowchart of a process for receiving environment information according to an embodiment of the present application;

fig. 5 is a schematic flowchart of a charging method for a robot chassis according to an embodiment of the present disclosure;

fig. 6 is a schematic flowchart of a charging method for a robot chassis according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a charging device of a robot chassis according to an embodiment of the present disclosure;

FIG. 8 is a block diagram of a targeting module provided in an embodiment of the present application;

fig. 9 is a schematic structural diagram of a target obtaining unit provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of an environment receiving module according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a charging device of a robot chassis according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a charging device of a robot chassis according to an embodiment of the present disclosure;

FIG. 13 is a schematic structural diagram of a bio-detection module according to an embodiment of the present disclosure;

fig. 14 is a block diagram of an electronic device according to an embodiment of the present disclosure;

fig. 15 is a schematic structural diagram of a robot chassis according to an embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of a robot chassis charging system according to an embodiment of the present disclosure;

fig. 17 is a schematic structural diagram of a charging station according to an embodiment of the present disclosure;

fig. 18 is a schematic structural diagram of a program product for implementing a charging method for a robot chassis according to an embodiment of the present application.

Detailed Description

The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.

Referring to fig. 1, the embodiment of the application provides a charging method for a robot chassis, the method is applied to the robot chassis, the robot chassis is provided with a laser radar, a rechargeable battery is further arranged in the robot chassis, and a charging station is provided with at least one charging potential for charging the battery of the robot chassis. In particular, the robot chassis may be an AGV.

The method includes steps S101 to S105.

Step S101: and determining one charging potential from the at least one charging potential as a target charging potential.

Referring to fig. 2, in a specific embodiment, the step S101 may include steps S201 to S203.

Step S201: acquiring an occupancy state of each of the at least one charging potential.

Step S202: and acquiring the charge potential with the unoccupied occupancy state from the at least one charge potential.

Step S203: and acquiring one charging position from the charging positions with the unoccupied occupation states as the target charging position.

Therefore, the occupied state of the charging potential is obtained, the charging potential with the unoccupied state can be selected to charge the battery of the robot chassis, and the robot chassis is prevented from colliding with other charged robot chassis.

Referring to fig. 3, in a specific embodiment, the step S203 may include steps S301 to S302.

Step S301: and acquiring the distance between each charging potential in the charging potentials with the unoccupied occupation states and the robot chassis.

Step S302: and determining the charging potential with the shortest distance as the target charging potential.

Therefore, the charging potential closest to the robot chassis can be selected to charge the robot chassis by acquiring the distance between the charging potential and the robot chassis, and the charging efficiency is improved.

Step S102: and controlling the robot chassis to travel to a preset distance near the target charging potential. The preset distance can be a safe distance for ensuring that the robot chassis does not collide with the obstacle at the target charging position, and if the obstacle exists at the target charging position, the robot chassis can be ensured not to collide with the obstacle at the target charging position; the preset distance can also be within the working radius range of the laser radar, and the laser radar can be ensured to comprehensively detect whether obstacles exist in the preset distance near the target charging position.

Step S103: and receiving environmental information sent by the laser radar, wherein the environmental information is obtained by scanning the target charging level by the laser radar.

Referring to fig. 4, in a specific embodiment, the step S103 may include steps S401 to S403.

Step S401: and receiving first image information sent by the camera, wherein the first image information is obtained by shooting a preset area of the target charging potential by the camera. The preset area can be an area where a camera can shoot clear images, the camera shoots the preset area of the target charging point, clear first image information can be obtained, and whether characteristic information exists or not can be detected according to the first image information.

Step S402: and detecting whether preset characteristic information exists or not according to the first image information. The preset feature information may be identification information at the charging site.

In a specific embodiment, the preset feature information includes at least one of the following: bar codes, two-dimensional codes, and reflective labels.

Therefore, if the first image information contains any one or more of a bar code, a two-dimensional code and a reflective label, the characteristic information in the preset area of the target charging potential is not shielded, and no obstacle exists in the preset area of the target charging potential.

Step S403: and when the preset characteristic information does not exist, receiving the environmental information sent by the laser radar.

Therefore, the camera is arranged, the first image information can be obtained, and whether the characteristic information exists or not is judged according to the first image information, on one hand, if the characteristic information exists in the first image information, the characteristic information in the preset area at the target charging position is not shielded, and the target charging position is not occupied; on the other hand, if the first image information shows that the characteristic information does not exist, the characteristic information in the preset region of the target charging level is shielded, and the environment information can be obtained through the laser radar, so that whether an obstacle exists in the preset distance near the target charging level or not is judged, and the intelligent degree is further improved.

Step S104: and detecting whether the target charging position has an obstacle or not according to the environment information. The obstacle may be a living being or a device, in particular a staff or a robot chassis being charged.

Step S105: when no obstacle exists, the robot chassis is controlled to travel to the target charging position, so that the robot chassis is charged at the target charging position.

Therefore, on one hand, the robot chassis can automatically navigate to the position near the target charging position according to the information of the target charging position, and the intelligent degree is high; on the other hand, through setting up laser radar, can acquire environmental information to judge whether the target fills the electric potential and has the barrier according to environmental information, avoid robot chassis and barrier to bump.

Referring to fig. 5, in a specific embodiment, the method further includes step S106.

Step S106: and adjusting the occupation state of the target charging potential to be occupied.

Therefore, when the robot chassis selects the target charging potential, the occupied state of the target charging potential is adjusted to be occupied, other robot chassis cannot take the charging potential as the target charging potential, the robot chassis can be prevented from colliding with one charging station, and the management of the charging potential is facilitated.

Referring to fig. 6, in a specific embodiment, the robot chassis is further provided with a camera, and the method further includes steps S107 to S109.

Step S107: and when an obstacle exists, receiving second image information sent by the camera, wherein the second image information is obtained by shooting a preset area of the target charging potential by the camera.

Step S108: and detecting whether a living being exists according to the second image information. The living being is for example a wild cat.

In a specific embodiment, the camera is an infrared camera, and the second image information is infrared image information.

Therefore, on one hand, compared with an optical camera, the infrared camera can be used at night or when the light is insufficient; on the other hand, the infrared camera can acquire the infrared image information of the living being and accurately identify the living being.

Step S109: when the creature exists, controlling the robot chassis to expel the creature.

From this, can acquire second image information according to the camera to judge whether there is the biology according to second image information, if there is the biology, the robot chassis can automatic expulsion biology, makes the biology keep away from the predetermined region of target charge level, and the robot chassis can charge in target charge level department.

Referring to fig. 7, an embodiment of the present application further provides a charging device for a robot chassis, and a specific implementation manner of the charging device is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and details are not repeated. The device is applied to a robot chassis, a laser radar is installed on the robot chassis, a rechargeable battery is further arranged in the robot chassis, at least one charging station is arranged on the charging station, and the charging station is used for charging the battery on the robot chassis.

The device comprises: a target determining module 101, configured to determine one of the charging potentials as a target charging potential; the first chassis control module 102 is configured to control the robot chassis to travel within a preset distance near the target charging potential; an environment receiving module 103, configured to receive environment information sent by the laser radar, where the environment information is obtained by scanning the target charging potential by the laser radar; the obstacle detection module 104 is configured to detect whether an obstacle exists in the target charging location according to the environment information; a second chassis control module 105, configured to control the robot chassis to travel to the target charging location when no obstacle exists, so that the robot chassis is charged at the target charging location.

Referring to fig. 8, in a specific embodiment, the goal determining module 101 may include: a state obtaining unit 1011, configured to obtain an occupation state of each of the at least one charging potential; a state screening unit 1012, configured to obtain a charge potential with an unoccupied occupancy state from the at least one charge potential; the target acquiring unit 1013 may be configured to acquire one of the charging sites from the charging sites whose occupied state is unoccupied as the target charging site.

Referring to fig. 9, in a specific embodiment, the target acquiring unit 1013 may include: a distance acquiring subunit 1013a, configured to acquire a distance between each of the charge potentials whose occupancy states are unoccupied and the robot chassis; the charging position determining subunit 1013b may be configured to determine, as the target charging position, one charging position at which the distance is shortest.

Referring to fig. 10, in a specific embodiment, the robot chassis may further be equipped with a camera; the environment receiving module 103 may include: a first image receiving unit 1031, configured to receive first image information sent by the camera, where the first image information is obtained by the camera shooting a preset region of the target charging potential; a feature detection unit 1032, configured to detect whether there is preset feature information according to the first image information; an information receiving unit 1033, configured to receive the environment information sent by the lidar when the preset feature information does not exist.

In a specific embodiment, the preset feature information may include at least one of: bar codes, two-dimensional codes, and reflective labels.

Referring to fig. 11, in a specific embodiment, the apparatus may further include: the state adjustment module 106 may be configured to adjust an occupation state of the target charging potential to be occupied.

Referring to fig. 12-13, in a specific embodiment, the robot chassis may also be equipped with a camera; the apparatus may further comprise a bio-detection module 107, and the bio-detection module 107 may comprise: a second image receiving unit 1071, configured to receive second image information sent by the camera when an obstacle exists, where the second image information is obtained by the camera shooting a preset area of the target charging potential; a biological detection unit 1072 operable to detect whether a biological is present based on the second image information; a creature expulsion unit 1073 may be used to control the robot chassis to expel a creature when present.

In a specific embodiment, the camera may be an infrared camera, and the second image information may be infrared image information.

Referring to fig. 14, an embodiment of the present application further provides an electronic device 200, where the electronic device 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.

The memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.

The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes the steps of the method for charging the robot chassis in the embodiment of the present application, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiments of the method, and details of the method are not repeated.

Memory 210 may also include a program/utility 214 having a set (at least one) of program modules 215, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.

Bus 230 may be a local bus representing one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or any other type of bus structure.

The electronic device 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, Bluetooth device, etc., and may also communicate with one or more devices capable of interacting with the electronic device 200, and/or with any devices (e.g., routers, modems, etc.) that enable the electronic device 200 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 250. Also, the electronic device 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the electronic device 200 via the bus 230. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.

Referring to fig. 15, an embodiment of the present application further provides a robot chassis 20, and a specific implementation manner of the robot chassis 20 is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and details are not repeated.

The robot chassis 20 is provided with a laser radar 201, the robot chassis 20 is further provided with a rechargeable battery (not shown), and the robot chassis 20 further includes any one of the electronic devices 200.

Therefore, on one hand, compared with the traditional detection equipment, the laser radar 201 has high resolution, good detection performance, small volume and light weight; in another aspect, the electronic device 200 may include a memory and a processor, and the application of the electronic device 200 to the robot chassis 20 promotes the level of intelligence and automation.

Referring to fig. 16 to 17, an embodiment of the present application further provides a robot chassis charging system 40, and a specific implementation manner of the robot chassis charging system is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and details are not repeated.

The robot chassis charging system 40 comprises a charging station 30 and any one of the robot chassis 20, wherein the charging station 30 is provided with at least one charging potential 31, and the charging potential 31 is used for charging a battery of the robot chassis 20.

The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the steps of the method for charging a robot chassis in the embodiment of the present application are implemented, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the above method, and some contents are not described again.

Fig. 18 shows a program product 300 provided by the present embodiment for implementing the method, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

The foregoing description and drawings are only for purposes of illustrating the preferred embodiments of the present application and are not intended to limit the present application, which is, therefore, to the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present application.

Claims

1. A charging method of a robot chassis is characterized in that the charging method is applied to the robot chassis, the robot chassis is provided with a laser radar, a rechargeable battery is further arranged in the robot chassis, a charging station is provided with at least one charging potential, and the charging potential is used for charging the battery of the robot chassis, and the method comprises the following steps:

determining one charging potential from the at least one charging potential as a target charging potential;

controlling the robot chassis to travel to a preset distance near the target charging position;

receiving environmental information sent by the laser radar, wherein the environmental information is obtained by scanning the target charging level by the laser radar;

detecting whether an obstacle exists in the target charging position or not according to the environment information;

when no obstacle exists, the robot chassis is controlled to travel to the target charging position, so that the robot chassis is charged at the target charging position.

2. The method of charging a robot chassis of claim 1, wherein the determining one of the charging potentials as a target charging potential from the at least one charging potential comprises:

acquiring an occupation state of each charging potential in the at least one charging potential;

acquiring a charging potential with an unoccupied occupation state from the at least one charging potential;

and acquiring one charging position from the charging positions with the unoccupied occupation states as the target charging position.

3. The method for charging a robot chassis according to claim 2, wherein the obtaining one of the charging sites from the charging sites whose occupancy state is unoccupied as the target charging site comprises:

acquiring the distance between each charging potential in the charging potentials with the unoccupied occupation states and the robot chassis;

and determining the charging potential with the shortest distance as the target charging potential.

4. A method of charging a robot chassis according to claim 2, the method further comprising:

and adjusting the occupation state of the target charging potential to be occupied.

5. The method of charging a robot chassis of claim 1, wherein the robot chassis is further equipped with a camera;

the receiving the environmental information sent by the laser radar includes:

receiving first image information sent by the camera, wherein the first image information is obtained by shooting a preset area of the target charging potential by the camera;

detecting whether preset characteristic information exists or not according to the first image information;

and when the preset characteristic information does not exist, receiving the environmental information sent by the laser radar.

6. The method of charging a robot chassis of claim 5, wherein the preset feature information includes at least one of: bar codes, two-dimensional codes, and reflective labels.

7. The method of charging a robot chassis of claim 1, wherein the robot chassis is further equipped with a camera;

the method further comprises the following steps:

when an obstacle exists, receiving second image information sent by the camera, wherein the second image information is obtained by shooting a preset area of the target charging potential by the camera;

detecting whether a living being exists according to the second image information;

when the creature exists, controlling the robot chassis to expel the creature.

8. The method of charging a robot chassis of claim 7, wherein the camera is an infrared camera and the second image information is infrared image information.

9. The utility model provides a charging device on robot chassis, its characterized in that is applied to robot chassis, laser radar is installed on robot chassis, robot chassis still embeds there is chargeable battery, and the charging station is provided with at least one charging potential, charging potential is used for the battery on robot chassis charges, the device includes:

the target determination module is used for determining one charging potential from the at least one charging potential as a target charging potential;

the first chassis control module is used for controlling the robot chassis to travel to a preset distance near the target charging position;

the environment receiving module is used for receiving environment information sent by the laser radar, wherein the environment information is obtained by scanning the target charging level by the laser radar;

the obstacle detection module is used for detecting whether an obstacle exists in the target charging position or not according to the environment information;

and the second chassis control module is used for controlling the robot chassis to travel to the target charging position when no obstacle exists, so that the robot chassis is charged at the target charging position.

10. A charging arrangement for a robot chassis according to claim 9, characterised in that the targeting module comprises:

the state acquisition unit is used for acquiring the occupation state of each charging potential in the at least one charging potential;

the state screening unit is used for acquiring a charging potential with an unoccupied occupation state from the at least one charging potential;

and the target acquisition unit is used for acquiring one of the charging positions from the charging positions with the unoccupied occupation states as the target charging position.

11. The charging device for a robot chassis according to claim 10, wherein the target acquisition unit comprises:

the distance acquisition subunit is used for acquiring the distance between each charging potential in the charging potentials with the unoccupied occupation state and the robot chassis;

and the charging position determining subunit is used for determining the charging position with the shortest distance as the target charging position.

12. A charging arrangement for a robot chassis according to claim 10, characterised in that the arrangement further comprises:

and the state adjusting module is used for adjusting the occupation state of the target charging potential to be occupied.

13. A charging arrangement for a robot chassis according to claim 9, characterised in that the robot chassis is further fitted with a camera;

the environment receiving module includes:

the first image receiving unit is used for receiving first image information sent by the camera, wherein the first image information is obtained by shooting a preset area of the target charging potential by the camera;

the characteristic detection unit is used for detecting whether preset characteristic information exists or not according to the first image information;

and the information receiving unit is used for receiving the environmental information sent by the laser radar when the preset characteristic information does not exist.

14. A charging arrangement for a robot chassis according to claim 13, characterised in that the preset characteristic information comprises at least one of the following: bar codes, two-dimensional codes, and reflective labels.

15. A charging arrangement for a robot chassis according to claim 9, characterised in that the robot chassis is further fitted with a camera;

the apparatus further comprises a bio-detection module, the bio-detection module comprising:

the second image receiving unit is used for receiving second image information sent by the camera when an obstacle exists, wherein the second image information is obtained by shooting a preset area of the target charging potential by the camera;

a biological detection unit for detecting whether a living being exists or not based on the second image information;

and the biological expelling unit is used for controlling the robot chassis to expel the organisms when the organisms exist.

16. A charging arrangement for a robot chassis according to claim 15, characterised in that the camera is an infrared camera and the second image information is infrared image information.

17. An electronic device, characterized in that the electronic device comprises a memory storing a computer program and a processor implementing the steps of the method according to any of claims 1-8 when the processor executes the computer program.

18. A robot chassis, characterized in that the robot chassis is equipped with a lidar, that the robot chassis further has a rechargeable battery built in, and that the robot chassis further comprises the electronic device of claim 17.

19. A robot chassis charging system, characterized in that the system comprises a charging station and a robot chassis according to claim 18, the charging station being provided with at least one charging potential for charging a battery of the robot chassis.

20. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.